From 1b3ad9cd8d411ef756058c175f3b7b7f61bf42d8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 5 Jan 2018 10:43:45 +0900
Subject: [PATCH] AP_AHRS: use ekf3 by default

---
 libraries/AP_AHRS/AP_AHRS.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index d5466df069..7596c9a24e 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -129,7 +129,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {
     // @Description: This controls which NavEKF Kalman filter version is used for attitude and position estimation
     // @Values: 0:Disabled,2:Enable EKF2,3:Enable EKF3
     // @User: Advanced
-    AP_GROUPINFO("EKF_TYPE",  14, AP_AHRS, _ekf_type, 2),
+    AP_GROUPINFO("EKF_TYPE",  14, AP_AHRS, _ekf_type, 3),
 #endif
 
     // @Param: CUSTOM_ROLL